CN117110990B - Method and device for passively positioning noise source direction - Google Patents
Method and device for passively positioning noise source direction Download PDFInfo
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Abstract
The invention discloses a method and a device for passively positioning a noise source direction, which comprise the steps of obtaining noise source signals collected by microphones in a microphone array, calculating the sound pressure level of the noise source signals collected by the microphones, screening out the noise source signals with the sound pressure level larger than a preset threshold value as first signals, determining an included angle between each first signal and a corresponding microphone pair by using a generalized cross-correlation phase transformation method and combining a far field model according to the first signals of each microphone pair, converting the included angle into a global angle with the preset layout of the microphone array as a reference, removing mirror angles in the global angle by adopting a consensus detection method based on angle difference, obtaining the real angles of the microphone pairs, fusing the real angles of the microphone pairs, and weighting and calculating to obtain the noise source position. The invention realizes the simpler passive localization of the noise direction of a single sound source.
Description
Technical Field
The invention relates to the field of noise source orientation, in particular to a method and a device for passively positioning the direction of a noise source.
Background
To facilitate government regulations for noise abatement and law enforcement, accurate determination of the location or direction of noise sources is required. In the noise source direction estimation technology, it is a common method to estimate the direction of a sound source by using the arrival delays detected by different microphone array elements. The method mainly comprises the steps of estimating time difference between arrival of a sound source signal at each microphone in the first step and estimating the sound source position by using the time difference obtained in the last step and the geometric relationship between the sound source and the microphone array in the second step.
In order to eliminate interference of environmental noise, echo and other factors in the prior art, a large amount of data and hardware support are required to construct a complex sound source estimation feature classifier and algorithm. However, although the prior art improves the sound source estimation to a certain extent, the computational complexity is increased, and the computational efficiency of sound source localization is reduced. Therefore, a simple and efficient passive sound source direction estimation technology is lacking.
Disclosure of Invention
The invention provides a method and a device for passively positioning the direction of a noise source, which realize the simpler passive positioning of the direction of the noise of a single sound source.
In order to solve the technical problem, an embodiment of the present invention provides a method for passively positioning a noise source direction, including:
Acquiring noise source signals acquired by each microphone in a microphone array, and determining a time domain sampling value of instantaneous sound pressure in each noise source signal, wherein one microphone corresponds to one noise source signal;
calculating the sound pressure level of the noise source signals acquired by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
Screening out the noise source signals with the sound pressure level larger than a preset threshold value as first signals, determining cross correlation by using a generalized cross correlation phase transformation method according to the first signals of each microphone pair, and taking the maximum value of the cross correlation as first time delay of each microphone pair;
According to the first time delay of each group of microphone pairs and a far-field model, determining an included angle between each first signal and the corresponding microphone pair, and converting the included angle into a global angle with the microphone array preset layout as a reference;
removing mirror angles in all global angles by adopting a consensus detection method based on angle difference to obtain real angles of all microphone pairs;
and fusing the real angles of the plurality of groups of microphone pairs, and carrying out weighted calculation to obtain the position of the noise source.
It can be appreciated that compared with the prior art, the method provided by the invention obtains the sound pressure level by collecting the time domain sampling value of the instantaneous sound pressure in the noise source signal and filtering the noise source signal with the sound pressure level larger than the standard value, thereby reducing unnecessary direction calculation. In the direction estimation process, the time difference between the noise source and each pair of microphones is determined by calculating a generalized cross-correlation phase transformation function, and the function has certain anti-interference capability, so that the time delay of each group of microphone pairs can be accurately measured. The method has the advantages that the acoustic wave propagation model is not needed to be considered, the noise source direction positioning can be given only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path, the method has excellent effect in a simple application scene, and the requirement on hardware equipment is not high. The real angles of the microphones are fused by using a weighted calculation method, so that the accuracy of noise source direction estimation is improved. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
Further, the calculating the sound pressure level of the noise source signal collected by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal specifically includes:
calculating the effective sound pressure of each noise source signal according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
and calculating the sound pressure level of the noise source signals acquired by each microphone according to the reference sound pressure and the effective sound pressure of each noise source signal.
It can be appreciated that the method provided by the present invention requires obtaining a time-domain sample of the instantaneous sound pressure of the microphone array. The sound pressure level is calculated to be compared with standard values of environmental noise in various areas of the city at daytime and nighttime, the noise is judged to be noise after the standard values of different measurement scenes are exceeded, then the pointing calculation flow is carried out, and otherwise, the microphone array can continuously collect noise signals. Noise source signals conforming to the specifications are screened out through sound pressure levels, and unnecessary direction calculation is reduced.
Further, the method for determining the cross-correlation by using a generalized cross-correlation phase transformation method according to the first signals of each group of microphone pairs, and taking the maximum value of the cross-correlation as the first time delay of each group of microphone pairs specifically comprises the following steps:
Performing Fourier transform on the first signals of each group of microphones to obtain a first observation signal power spectrum and a second observation signal power spectrum, and calculating a cross power spectrum and a phase transformation weighting function of the first observation signal power spectrum and the second observation signal power spectrum;
performing inverse Fourier transform on the cross-power spectrum by combining the phase transformation weighting function to obtain a generalized cross-correlation phase transformation weighting function;
And calculating a correlation maximum value in the generalized cross-correlation phase transformation weighting function, and taking the correlation maximum value as a first time delay of each group of microphone pairs.
It can be understood that the method provided by the invention determines the time difference of two microphones by calculating the generalized cross-correlation phase transformation function, and the function itself has certain anti-interference capability, so that the time delay of each microphone pair can be accurately measured.
Further, determining an included angle between each first signal and a corresponding microphone pair according to the first delay combination far-field model of each group of microphone pairs, and converting the included angle into a global angle with a microphone array preset layout as a reference, specifically including:
According to a far-field model, combining the first time delay of each group of microphone pairs and the microphone array element spacing of a preset layout, determining the included angle between each first signal and the corresponding microphone pair, wherein the specific formula is as follows:
wherein beta is the included angle between the first signal and the corresponding microphone pair, For the first time delay of each group of microphone pairs, c is sound velocity, and d is microphone array element spacing;
and according to the microphone array preset layout, adding and subtracting the included angles between each first signal and each microphone pair of each group of microphone pairs compared with the included angles of the microphone array coordinate system respectively to obtain the global angle taking the microphone array preset layout as a reference.
It can be understood that the method provided by the invention can give the direction positioning of the noise source only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path without considering the acoustic wave propagation model, has excellent effect in simple application scene and has low requirement on hardware equipment.
Further, the method for detecting the consensus based on the angle difference excludes the mirror angle in each global angle to obtain the real angle of each microphone pair, which specifically comprises:
taking the global angles of the first group of microphone pairs as a reference group, taking the global angles of the second group of microphone pairs as a verification group, and taking the global angles of the remaining group of microphone pairs as comparison groups respectively;
Calculating the absolute value of the difference between the reference group and the verification group, and taking the global angle of the reference group and the global angle of the verification group corresponding to the minimum value of the absolute value as the real angle of the reference group and the real angle of the verification group;
and respectively calculating absolute values of differences between the real angles of the reference groups and the comparison groups, and taking a global angle of the comparison group corresponding to the minimum value of the absolute values as the real angle of the current comparison group.
It can be understood that the method provided by the invention can be used for detecting the real angle and eliminating the mirror angle by adopting a consensus mechanism. Because the actual placement positions of the microphones of each group are different, the mirror angles of the microphones are different, however, the actual angles are relatively close to each other, and therefore the angles with smaller included angles between the comparison group and the reference group are found by comparing the comparison group with the reference group one by one, so that the actual angle set can be obtained.
Further, the merging the real angles of the plurality of groups of microphone pairs, and weighting calculation to obtain the noise source position specifically includes:
calculating the normalized weight of the included angle between each first signal and the corresponding microphone, wherein the specific formula is as follows:
Wherein β i is the included angle between the ith first signal and the corresponding microphone pair, and S is the number of microphone pairs;
calculating the real angles and the normalized weights of the plurality of groups of microphone pairs to obtain the noise source position, wherein the specific formula is as follows:
wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
It can be understood that the method provided by the invention can resist the capability of interference of environmental noise by fusing the real angles of the microphones, thereby improving the accuracy of noise source direction estimation. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
Correspondingly, the invention also provides a device for passively positioning the direction of the noise source, which comprises:
The data acquisition module is used for acquiring noise source signals acquired by each microphone in the microphone array and determining a time domain sampling value of instantaneous sound pressure in each noise source signal, wherein one microphone corresponds to one noise source signal;
the sound pressure level calculation module is used for calculating the sound pressure level of the noise source signals acquired by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
the time delay calculation module is used for screening out each noise source signal with the sound pressure level larger than a preset threshold value as a first signal, determining the cross correlation by using a generalized cross correlation phase transformation method according to each first signal of each group of microphone pairs, and taking the maximum value of the cross correlation as the first time delay of each group of microphone pairs;
the direction determining module is used for determining an included angle between each first signal and the corresponding microphone pair according to the first time delay of each group of microphone pairs and combining a far-field model, and converting the included angle into a global angle taking the microphone array preset layout as a reference;
The mirror image removing module is used for removing mirror image angles in all global angles by adopting a consensus detection method based on angle difference to obtain real angles of all microphone pairs;
and the direction enhancement module is used for fusing the real angles of the plurality of groups of microphone pairs, and obtaining the noise source position through weighted calculation.
It can be understood that compared with the prior art, the device provided by the invention pre-processes the noise source signal, calculates the sound pressure level according to the time domain sampling value of the instantaneous sound pressure in the noise source signal, screens the noise source signal with the sound pressure level being larger than the standard value, and reduces unnecessary direction calculation. The time difference from the noise source to each group of microphone pairs is determined by adopting a generalized cross-correlation phase transformation method with a certain environmental interference resistance. As a passive positioning mode of a single noise source, the device provided by the invention can provide the noise source direction positioning only by the receiving phase difference of the microphone pair and the geometric relation of the propagation path of the far-field model without considering the acoustic wave propagation model, has excellent effect in a simple application scene and has low requirement on hardware equipment. The angle estimation results of a plurality of groups of microphone pairs can be comprehensively utilized, and the accuracy of noise source direction estimation is improved. Besides, the device can be used for three-dimensional noise source direction positioning, is simple and efficient in calculation and is wider in application range.
Further, the direction determining module comprises an angle calculating sub-module and a global angle converting sub-module:
The angle calculation sub-module is configured to determine, according to a far field model, an included angle between each first signal and a corresponding microphone pair by combining the first time delay of each group of microphone pairs and a microphone array element interval of a preset layout, where a specific formula is as follows:
wherein beta is the included angle between the first signal and the corresponding microphone pair, For the first time delay of each group of microphone pairs, c is sound velocity, and d is microphone array element spacing;
The global angle conversion sub-module is configured to add and subtract, according to a microphone array preset layout, angles between each group of microphone pairs and each group of microphone pairs with respect to an included angle of a microphone array coordinate system, respectively, so as to obtain the global angle with the microphone array preset layout as a reference.
It can be understood that the device provided by the invention can give the direction positioning of the noise source only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path without considering the acoustic wave propagation model, has excellent effect in simple application scene and has low requirement on hardware equipment.
Further, the mirror removal module comprises a grouping sub-module, a first analysis sub-module and a second analysis sub-module:
the grouping submodule is used for taking the global angles of the first group of microphone pairs as a reference group, taking the global angles of the second group of microphone pairs as a verification group and taking the global angles of the remaining group of microphone pairs as a comparison group respectively;
The first analysis submodule is used for calculating the absolute value of the difference between the reference group and the verification group, and taking the global angle of the reference group and the global angle of the verification group corresponding to the minimum value of the absolute value as the real angle of the reference group and the real angle of the verification group;
the second analysis submodule calculates absolute values of differences between the real angles of the reference group and the comparison groups respectively, and takes a comparison group global angle corresponding to the minimum value of the absolute values as the real angle of the current comparison group.
It can be understood that the device provided by the invention detects the true angle by adopting a consensus mechanism and excludes the mirror angle. Because the actual placement positions of the microphones of each group are different, the mirror angles of the microphones are different, however, the actual angles are relatively close to each other, and therefore the angles with smaller included angles between the comparison group and the reference group are found by comparing the comparison group with the reference group one by one, so that the actual angle set can be obtained.
Further, the direction enhancement module comprises a normalized weight calculation sub-module and a weight calculation sub-module:
the normalization weight calculation sub-module is configured to calculate a normalization weight of an included angle between each first signal and a corresponding microphone, where a specific formula is as follows:
Wherein β i is the included angle between the ith first signal and the corresponding microphone pair, and S is the number of microphone pairs;
The weighting calculation sub-module is used for calculating the real angles and the normalization weights of the plurality of groups of microphone pairs to obtain the noise source position, and the specific formula is as follows:
wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
It can be understood that the device provided by the invention can resist the interference capability of environmental noise by fusing the real angles of the microphones, thereby improving the accuracy of noise source direction estimation. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
Drawings
FIG. 1 is a flow chart of the steps of a method for passively positioning the direction of a noise source according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the direction of arrival sensing of a microphone array according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a direction estimation mirror image and an angle conversion according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for positioning the direction of a noise source based on an arrival time delay method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a two-dimensional microphone array according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a three-dimensional microphone array according to an embodiment of the present invention;
FIG. 7 is a graph showing the angle error with the position of a noise source in a three-dimensional scene according to an embodiment of the present invention;
FIG. 8 is a graph showing the variation of angle estimation error with SNR in a three-dimensional scene according to an embodiment of the present invention;
FIG. 9 is a graph of simulated runtime of a method for passive positioning of noise source direction in a three-dimensional scene provided by an embodiment of the invention;
FIG. 10 is a schematic diagram of a device for passively positioning the direction of a noise source according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of the internal structure of a device direction determining module for passive positioning of noise source direction according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of an internal structure of an apparatus for passive positioning of noise source direction excluding mirror image module according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of the internal structure of a device direction enhancement module for passive positioning of noise source direction according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a schematic step flow diagram of a method for passively positioning a noise source direction according to an embodiment of the present invention includes the following steps S101 to S106, where the specific method of each step is as follows:
S101, acquiring noise source signals acquired by each microphone in the microphone array, and determining a time domain sampling value of instantaneous sound pressure in each noise source signal.
It should be noted that the microphone array includes, but is not limited to, a measurement microphone or a MEMS microphone, and the microphone array forms include, but are not limited to, a circular array, an elliptical array, a grid-shaped array, a linear array, and other microphone arrays specifically designed according to the specific application scenario.
S102, calculating the sound pressure level of the noise source signals acquired by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal.
In this embodiment, the calculating the sound pressure level of the noise source signal collected by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal specifically includes calculating the effective sound pressure of each noise source signal according to the time domain sampling value of the instantaneous sound pressure in each noise source signal, and calculating the sound pressure level of the noise source signal collected by each microphone according to the reference sound pressure and the effective sound pressure of each noise source signal.
It can be appreciated that the method provided by the present invention requires obtaining a time-domain sample of the instantaneous sound pressure of the microphone array. The sound pressure level is calculated to be compared with standard values of environmental noise in various areas of the city at daytime and nighttime, the noise is judged to be noise after the standard values of different measurement scenes are exceeded, then the pointing calculation flow is carried out, and otherwise, the microphone array can continuously collect noise signals. Noise source signals conforming to the specifications are screened out through sound pressure levels, and unnecessary direction calculation is reduced.
And S103, screening out the noise source signals with the sound pressure level larger than a preset threshold value as first signals, determining cross correlation by using a generalized cross correlation phase transformation method according to the first signals of each group of microphone pairs, and taking the maximum value of the cross correlation as the first time delay of each group of microphone pairs.
In this embodiment, the determining a cross-correlation by using a generalized cross-correlation phase transformation method according to the first signals of each microphone pair, and taking the maximum cross-correlation as the first delay of each microphone pair specifically includes performing fourier transformation on the first signals of each microphone pair to obtain a first observation signal power spectrum and a second observation signal power spectrum, calculating a cross-power spectrum and a phase transformation weighting function of the first observation signal power spectrum and the second observation signal power spectrum, performing inverse fourier transformation on the cross-power spectrum in combination with the phase transformation weighting function to obtain a generalized cross-correlation phase transformation weighting function, and calculating the maximum cross-correlation in the generalized cross-correlation phase transformation weighting function and taking the maximum cross-correlation as the first delay of each microphone pair.
It can be understood that the method provided by the invention determines the time difference of two microphones by calculating the generalized cross-correlation phase transformation function, and the function itself has certain anti-interference capability, so that the time delay of each microphone pair can be accurately measured.
S104, according to the first time delay of each group of microphone pairs and the combination of a far-field model, determining the included angle between each first signal and the corresponding microphone pair, and converting the included angle into a global angle with the microphone array preset layout as a reference.
In this embodiment, please refer to fig. 2, which shows a schematic diagram of direction of arrival sensing of a microphone array according to an embodiment of the present invention, which shows a geometric relationship between a noise source and each group of microphone pairs. In fig. 3, x (n) ∈ [ -1,1] is the first signal of each microphone pair, β is an angle between the first signal and the corresponding microphone pair, and d is a microphone array element pitch. Determining an included angle between each first signal and a corresponding microphone pair according to the first time delay of each group of microphone pairs and a far field model, and converting the included angle into a global angle with a microphone array preset layout as a reference, wherein the specific formula is as follows: wherein beta is the included angle between the first signal and the corresponding microphone pair, And c is the sound velocity, and d is the microphone array element spacing for the first time delay of each group of microphone pairs.
In this embodiment, please refer to fig. 3, which is a schematic diagram of direction estimation mirror image and angle conversion according to an embodiment of the present invention, wherein Φ i e [0, pi ] represents an included angle of the i-th microphone pair with respect to the coordinate system of the microphone array. Because a group of microphone pairs can only detect the included angle of the noise source relative to the current microphone pair, the left and right directions cannot be judged. Therefore, according to the microphone array preset layout, the included angles between each first signal and each microphone pair are added and subtracted respectively from the included angles of the microphone array coordinate system of each microphone pair, so as to obtain the global angle taking the microphone array preset layout as a reference.
It can be understood that the method provided by the invention can give the direction positioning of the noise source only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path without considering the acoustic wave propagation model, has excellent effect in simple application scene and has low requirement on hardware equipment.
S105, removing mirror angles in all the global angles by adopting a consensus detection method based on angle difference, and obtaining the real angles of all the microphone pairs.
In this embodiment, the method for detecting the common knowledge based on the angle difference excludes mirror angles in the global angles to obtain real angles of each microphone pair, and specifically includes taking the global angle of a first group of microphone pairs as a reference group, the global angle of a second group of microphone pairs as a verification group, the global angles of the remaining group of microphone pairs as comparison groups, calculating absolute values of differences between the reference group and the verification group, taking the global angle of the reference group and the global angle of the verification group corresponding to the minimum value of the absolute values as real angles of the reference group and real angles of the verification group, respectively calculating absolute values of differences between the real angles of the reference group and the comparison groups, and taking the global angle of the comparison group corresponding to the minimum value of the absolute values as the real angle of the current comparison group.
It can be understood that the method provided by the invention can be used for detecting the real angle and eliminating the mirror angle by adopting a consensus mechanism. Because the actual placement positions of the microphones of each group are different, the mirror angles of the microphones are different, however, the actual angles are relatively close to each other, and therefore the angles with smaller included angles between the comparison group and the reference group are found by comparing the comparison group with the reference group one by one, so that the actual angle set can be obtained.
S106, fusing the real angles of the plurality of groups of microphone pairs, and obtaining the position of the noise source through weighted calculation.
In this embodiment, the merging the real angles of the plurality of groups of microphone pairs, and weighting and calculating to obtain the noise source position specifically includes calculating a normalized weight of an included angle between each first signal and a corresponding microphone, where a specific formula is as follows: The method comprises the steps of calculating the real angles and the normalized weights of a plurality of groups of microphone pairs to obtain the position of a noise source, wherein beta i is the included angle between the ith first signal and the corresponding microphone pair, S is the number of the microphone pairs, and the specific formula is as follows: wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
It can be understood that the method provided by the invention can resist the capability of interference of environmental noise by fusing the real angles of the microphones, thereby improving the accuracy of noise source direction estimation. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
As a preferred solution, please refer to fig. 4, which is a schematic flow chart of a noise source direction positioning method based on an arrival time delay method according to an embodiment of the present invention. The method for passively positioning the direction of the noise source provided by the invention mainly comprises two processes of preprocessing and direction estimation, wherein sound signals are acquired by each microphone in the microphone array and transmitted to a cloud server to finish the positioning of the direction of the sound source.
Preferably, noise source signals collected by each microphone in the microphone array are obtained, and a time domain sampling value of instantaneous sound pressure in each noise source signal is determined.
Specifically, according to the time domain sampling value of the instantaneous sound pressure in each noise source signal, calculating the effective sound pressure of each noise source signal, wherein the specific formula is as follows: Wherein p e e R is an effective sound pressure, the unit is Pa, x (N) e [ -1,1] is a time domain sampling value of the instantaneous sound pressure, n=1.
Specifically, according to the reference sound pressure and the effective sound pressure of each noise source signal, the sound pressure level of the noise source signal collected by each microphone is calculated, and the specific formula is as follows: Wherein L epsilon R is sound pressure level, the unit is dB, p REF epsilon R is reference sound pressure, and 2X 10 5 Pa is generally adopted in air.
Specifically, each noise source signal with the sound pressure level larger than a preset threshold value is selected as a first signal, each group of microphones performs Fourier transform on each first signal to obtain a first observation signal power spectrum and a second observation signal power spectrum, and a cross power spectrum and a phase transformation weighting function of the first observation signal power spectrum and the second observation signal power spectrum are calculated, wherein the cross power spectrum isThe specific calculation formula of (2) is as follows:
Wherein [ (35 ] * is a conjugate operator; Y 1 (f) E C is the first observed signal power spectrum and Y 2 (f) is the second observed signal power spectrum;
The specific calculation formula of the phase transformation weighting function θ PHAT (f) ε R is:
Performing inverse Fourier transform on the cross-power spectrum combined with the phase transformation weighting function to obtain a generalized cross-correlation phase transformation weighting function The specific calculation formula is as follows:
wherein F -1 [. Cndot. ] is an inverse Fourier transform and j is a complex symbol;
and calculating the maximum value of the cross correlation in the generalized cross correlation phase transformation weighting function, wherein the specific formula is as follows: the maximum cross-correlation is taken as the first time delay of each microphone pair.
The method comprises the steps of determining an included angle between each first signal and a corresponding microphone pair according to a first time delay of each microphone pair, combining a far-field model, converting the included angle into a global angle with a microphone array preset layout as a reference, removing mirror angles in the global angle by adopting a consensus detection method based on angle differences to obtain real angles of each microphone pair, fusing the real angles of a plurality of groups of microphone pairs, and weighting and calculating to obtain the position of a noise source.
As a preferred solution, the present embodiment is applied to an outdoor actual scene-related experiment. Referring to fig. 5, a schematic diagram of a two-dimensional microphone array according to an embodiment of the invention is shown, in which 4 microphones in the microphone array are arranged in a uniform circular array with a radius of 0.5m. Noise sources were placed 5m, 7m and 10m in front of the y-axis positive half axis of the array. When noise source signals are collected at each collecting point, the collecting time length is 10 seconds, and the outdoor temperature is about 18 ℃ when the noise source signals are collected. The equipment model used is shown in table 1.
| Apparatus and method for controlling the operation of a device | Microphone | Sound card |
| Model number | KM-2 measuring microphone | RME Fireface UFX II |
TABLE 1 Equipment model
Table 2 shows the direction estimation errors at 3 different noise source distances, the closer the signal propagation is to the far field, the smaller the direction estimation error is, as the noise source distance becomes larger in the perception range of the microphone, confirming the usability of the method.
| Noise source distance (meter) | 5 | 7 | 10 |
| Direction estimation error (degree) | 2.17 | 1.91 | 1.79 |
Table 2 two-dimensional direction estimation results
As a preferred solution, the embodiment is applied to a software simulation experiment of a three-dimensional scene. Referring to fig. 6, a schematic diagram of a three-dimensional microphone array according to an embodiment of the present invention is shown, in which 8 microphones in the microphone array form a three-dimensional rectangular array. The two-dimensional position of the noise source is placed at a position 50m in front of the y axis of the array center, and the height is changed along with the simulation experiment.
As a preferred scheme, as shown in fig. 7 and fig. 8, the software simulation result of the present invention applied to the three-dimensional scene is a graph of angle error along with the change of the noise source position and a graph of angle estimation error along with the change of the signal to noise ratio in the three-dimensional scene provided by the embodiment of the present invention, respectively, when the signal to noise ratio is 0, when the vertical height of the sound source from the array plane becomes larger, the azimuth angle estimation error becomes larger gradually, and the pitch angle estimation error is less affected. When the vertical height of the sound source from the array plane is fixed to be 50 meters, the azimuth angle estimation error and the pitch angle estimation error can be converged after the signal to noise ratio is reduced from-30 dB to-20 dB and-6 dB respectively.
As a preferred scheme, please refer to fig. 9, which is a graph of simulation running time of a method for passively positioning a noise source direction in a three-dimensional scene, wherein the graph shows the operation efficiency of the method, namely, the average operation time for completing 30 simulation experiments is 0.6872s.
According to the method provided by the invention, the sound pressure level is obtained by collecting the time domain sampling value of the instantaneous sound pressure in the noise source signal, and the noise source signal with the sound pressure level larger than the standard value is screened out, so that unnecessary direction calculation is reduced. In the direction estimation process, the time difference between the noise source and each pair of microphones is determined by calculating a generalized cross-correlation phase transformation function, and the function has certain anti-interference capability, so that the time delay of each group of microphone pairs can be accurately measured. The method has the advantages that the acoustic wave propagation model is not needed to be considered, the noise source direction positioning can be given only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path, the method has excellent effect in a simple application scene, and the requirement on hardware equipment is not high. The real angles of the microphones are fused by using a weighted calculation method, so that the accuracy of noise source direction estimation is improved. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
Example two
Referring to fig. 10, a schematic structural diagram of a device for passively positioning a noise source direction according to an embodiment of the present invention includes a data acquisition module 201, a sound pressure level calculation module 202, a time delay calculation module 203, a direction determination module 204, an image rejection module 205, and a direction enhancement module 206.
The data acquisition module 201 is configured to acquire noise source signals acquired by each microphone in the microphone array, and determine a time domain sampling value of instantaneous sound pressure in each noise source signal, where one microphone corresponds to one noise source signal;
The sound pressure level calculating module 202 is configured to calculate a sound pressure level of the noise source signal collected by each microphone according to a time domain sampling value of the instantaneous sound pressure in each noise source signal;
The delay calculation module 203 is configured to screen out each noise source signal with the sound pressure level greater than a preset threshold as a first signal, determine a cross-correlation by using a generalized cross-correlation phase transformation method according to each first signal of each microphone pair, and use the maximum value of the cross-correlation as a first delay of each microphone pair;
The direction determining module 204 is configured to determine, according to the first time delay of each set of microphone pairs and in combination with a far-field model, an included angle between each first signal and a corresponding microphone pair, and convert the included angle into a global angle with a microphone array preset layout as a reference;
the mirror image removing module 205 is configured to remove mirror image angles in each global angle by using a consensus detection method based on angle differences, so as to obtain real angles of each microphone pair;
The direction enhancing module 206 is configured to fuse the real angles of the multiple microphone pairs, and weight and calculate to obtain a noise source position.
In this embodiment, the sound pressure level calculating module 202 calculates the effective sound pressure of each noise source signal according to the time-domain sampling value of the instantaneous sound pressure in each noise source signal, and calculates the sound pressure level of the noise source signal collected by each microphone according to the reference sound pressure and the effective sound pressure of each noise source signal.
It can be appreciated that the device provided by the invention needs to acquire the time-domain sampling value of the instantaneous sound pressure of the microphone array. The sound pressure level is calculated to be compared with standard values of environmental noise in various areas of the city at daytime and nighttime, the noise is judged to be noise after the standard values of different measurement scenes are exceeded, then the pointing calculation flow is carried out, and otherwise, the microphone array can continuously collect noise signals. Noise source signals conforming to the specifications are screened out through sound pressure levels, and unnecessary direction calculation is reduced.
In this embodiment, the delay calculation module 203 performs fourier transform on the first signals of each group of microphones to obtain a first observation signal power spectrum and a second observation signal power spectrum, calculates a cross power spectrum and a phase transformation weighting function of the first observation signal power spectrum and the second observation signal power spectrum, performs inverse fourier transform on the cross power spectrum in combination with the phase transformation weighting function to obtain a generalized cross-correlation phase transformation weighting function, calculates a cross-correlation maximum value in the generalized cross-correlation phase transformation weighting function, and uses the cross-correlation maximum value as the first delay of each group of microphones.
It can be understood that the device provided by the invention determines the time difference of two microphones by calculating the generalized cross-correlation phase transformation function, and the function itself has certain anti-interference capability, so that the time delay of each microphone pair can be accurately measured.
In this embodiment, please refer to fig. 11, which is a schematic diagram of an internal structure of a device direction determining module for passively positioning a noise source direction according to an embodiment of the present invention, wherein the direction determining module 204 includes an angle calculating sub-module 2041 and a global angle converting sub-module 2042.
The angle calculation sub-module 2041 is configured to determine, according to a far field model, an included angle between each first signal and a corresponding microphone pair by combining the first delay of each group of microphone pairs with a microphone array element interval of a preset layout, where a specific formula is: wherein beta is the included angle between the first signal and the corresponding microphone pair, And c is the sound velocity, and d is the microphone array element spacing for the first time delay of each group of microphone pairs.
The global angle conversion submodule 2042 is configured to add and subtract the included angles between the first signals and each group of microphone pairs to and from the included angles of the microphone array coordinate system according to the microphone array preset layout, so as to obtain the global angle with the microphone array preset layout as a reference.
It can be understood that the device provided by the invention can give the direction positioning of the noise source only by the receiving phase difference of the microphone pair and the simple geometric relation of the propagation path without considering the acoustic wave propagation model, has excellent effect in simple application scene and has low requirement on hardware equipment.
In this embodiment, please refer to fig. 12, which is a schematic diagram of an internal structure of an image rejection module of a device for passive positioning of a noise source direction according to an embodiment of the present invention, wherein the image rejection module 205 includes a grouping sub-module 2051, a first analysis sub-module 2052 and a second analysis sub-module 2053.
The grouping submodule 2051 is configured to take the global angles of the first microphone pair as a reference group, the global angles of the second microphone pair as a verification group, and the global angles of the remaining microphone pairs as comparison groups.
The first analysis submodule 2052 is configured to calculate an absolute value of a difference between the reference group and the verification group, and take a global angle of the reference group and a global angle of the verification group corresponding to a minimum value of the absolute value as a real angle of the reference group and a real angle of the verification group.
The second analysis submodule calculates absolute values of differences between the real angles of the reference group and the comparison groups respectively, and takes a comparison group global angle corresponding to the minimum value of the absolute values as the real angle of the current comparison group.
It can be understood that the device provided by the invention detects the true angle by adopting a consensus mechanism and excludes the mirror angle. Because the actual placement positions of the microphones of each group are different, the mirror angles of the microphones are different, however, the actual angles are relatively close to each other, and therefore the angles with smaller included angles between the comparison group and the reference group are found by comparing the comparison group with the reference group one by one, so that the actual angle set can be obtained.
In this embodiment, please refer to fig. 13, which is a schematic diagram of an internal structure of a device direction enhancement module for passively positioning a noise source direction according to an embodiment of the present invention, where the direction enhancement module 206 includes a normalization weight calculation sub-module 2061 and a weighting calculation sub-module 2062.
The normalized weight calculation submodule 2061 is configured to calculate a normalized weight of an included angle between each first signal and a corresponding microphone, where a specific formula is: Wherein β i is the included angle between the ith first signal and the corresponding microphone pair, and S is the number of microphone pairs.
The weighting calculation submodule 2062 is configured to calculate the real angles and the normalized weights of the plurality of groups of microphone pairs, so as to obtain a noise source position, where a specific formula is as follows: wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
It can be understood that the device provided by the invention can resist the interference capability of environmental noise by fusing the real angles of the microphones, thereby improving the accuracy of noise source direction estimation. In addition, the weighting method can be used for three-dimensional noise source direction estimation, is simple and efficient in calculation and has a wider application range.
The device provided by the invention pre-processes the noise source signal, calculates the sound pressure level according to the time domain sampling value of the instantaneous sound pressure in the noise source signal, screens the noise source signal with the sound pressure level being larger than the standard value, and reduces unnecessary direction calculation. The time difference from the noise source to each group of microphone pairs is determined by adopting a generalized cross-correlation phase transformation method with a certain environmental interference resistance. As a passive positioning mode of a single noise source, the device provided by the invention can provide the noise source direction positioning only by the receiving phase difference of the microphone pair and the geometric relation of the propagation path of the far-field model without considering the acoustic wave propagation model, has excellent effect in a simple application scene and has low requirement on hardware equipment. The angle estimation results of a plurality of groups of microphone pairs can be comprehensively utilized, and the accuracy of noise source direction estimation is improved. Besides, the device can be used for three-dimensional noise source direction positioning, is simple and efficient in calculation and is wider in application range.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A method for passively locating a direction of a noise source, comprising:
Acquiring noise source signals acquired by each microphone in a microphone array, and determining a time domain sampling value of instantaneous sound pressure in each noise source signal, wherein one microphone corresponds to one noise source signal, and the microphone array is a two-dimensional uniform circular array or a three-dimensional rectangular array;
calculating the sound pressure level of the noise source signals acquired by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
Screening out the noise source signals with the sound pressure level larger than a preset threshold value as first signals, determining cross correlation by using a generalized cross correlation phase transformation method according to the first signals of each microphone pair, and taking the maximum value of the cross correlation as first time delay of each microphone pair;
According to the first time delay of each group of microphone pairs and a far-field model, determining an included angle between each first signal and the corresponding microphone pair, and converting the included angle into a global angle with the microphone array preset layout as a reference;
the method comprises the steps of obtaining real angles of all microphone pairs by adopting a consensus detection method based on angle difference to eliminate mirror angles in all the global angles, taking the global angles of a first group of microphone pairs as a reference group, taking the global angles of a second group of microphone pairs as a verification group, taking the global angles of the rest group of microphone pairs as comparison groups, calculating absolute values of differences between the reference group and the verification group, taking the global angles of the reference group and the verification group corresponding to the minimum value of the absolute values as the real angles of the reference group and the real angles of the verification group, respectively calculating the absolute values of the differences between the real angles of the reference group and all the comparison groups, and taking the global angles of the comparison group corresponding to the minimum value of the absolute values as the real angles of the current comparison group, wherein each group of microphone pairs at different placement positions generate different mirror angles;
and fusing the real angles of the plurality of groups of microphone pairs, and carrying out weighted calculation to obtain the position of the noise source.
2. The method for passively positioning a direction of a noise source according to claim 1, wherein the calculating the sound pressure level of the noise source signal collected by each microphone according to the time-domain sampling value of the instantaneous sound pressure in each noise source signal comprises the following specific steps:
calculating the effective sound pressure of each noise source signal according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
and calculating the sound pressure level of the noise source signals acquired by each microphone according to the reference sound pressure and the effective sound pressure of each noise source signal.
3. The method for passively positioning noise source directions according to claim 1, wherein the determining the cross-correlation according to the respective first signals of each microphone pair by using a generalized cross-correlation phase transformation method, and using the maximum value of the cross-correlation as the first delay of each microphone pair specifically includes:
Performing Fourier transform on the first signals of each group of microphones to obtain a first observation signal power spectrum and a second observation signal power spectrum, and calculating a cross power spectrum and a phase transformation weighting function of the first observation signal power spectrum and the second observation signal power spectrum;
performing inverse Fourier transform on the cross-power spectrum by combining the phase transformation weighting function to obtain a generalized cross-correlation phase transformation weighting function;
And calculating a cross-correlation maximum value in the generalized cross-correlation phase transformation weighting function, and taking the cross-correlation maximum value as a first time delay of each group of microphone pairs.
4. The method for passively positioning a noise source according to claim 1, wherein determining an included angle between each of the first signals and the corresponding microphone pair according to the first time delay of each of the microphone pairs and in combination with a far-field model, and converting the included angle into a global angle with reference to a microphone array preset layout specifically includes:
According to a far-field model, combining the first time delay of each group of microphone pairs and the microphone array element spacing of a preset layout, determining the included angle between each first signal and the corresponding microphone pair, wherein the specific formula is as follows:
wherein beta is the included angle between the first signal and the corresponding microphone pair, For the first time delay of each group of microphone pairs, c is sound velocity, and d is microphone array element spacing;
and according to the microphone array preset layout, adding and subtracting the included angles between each first signal and each microphone pair of each group of microphone pairs compared with the included angles of the microphone array coordinate system respectively to obtain the global angle taking the microphone array preset layout as a reference.
5. The method for passively positioning a noise source direction according to claim 1, wherein the merging the real angles of the microphone pairs and weighting calculation to obtain the noise source position specifically includes:
calculating the normalized weight of the included angle between each first signal and the corresponding microphone, wherein the specific formula is as follows:
Wherein β i is the included angle between the ith first signal and the corresponding microphone pair, and S is the number of microphone pairs;
calculating the real angles and the normalized weights of the plurality of groups of microphone pairs to obtain the noise source position, wherein the specific formula is as follows:
wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
6. A device for passively locating a direction of a noise source, comprising:
The data acquisition module is used for acquiring noise source signals acquired by each microphone in the microphone array and determining a time domain sampling value of instantaneous sound pressure in each noise source signal, wherein one microphone corresponds to one noise source signal, and the microphone array is a two-dimensional uniform circular array or a three-dimensional rectangular array;
the sound pressure level calculation module is used for calculating the sound pressure level of the noise source signals acquired by each microphone according to the time domain sampling value of the instantaneous sound pressure in each noise source signal;
the time delay calculation module is used for screening out each noise source signal with the sound pressure level larger than a preset threshold value as a first signal, determining the cross correlation by using a generalized cross correlation phase transformation method according to each first signal of each group of microphone pairs, and taking the maximum value of the cross correlation as the first time delay of each group of microphone pairs;
the direction determining module is used for determining an included angle between each first signal and the corresponding microphone pair according to the first time delay of each group of microphone pairs and combining a far-field model, and converting the included angle into a global angle taking the microphone array preset layout as a reference;
The system comprises a global angle detection module, an image rejection module, a first analysis module and a second analysis module, wherein the global angle detection module is used for detecting the global angle of each microphone pair, the image rejection module is used for eliminating the image angle in each global angle to obtain the real angle of each microphone pair by adopting a common-knowledge detection method based on angle difference, the image rejection module comprises a grouping sub-module, the first analysis sub-module and the second analysis sub-module, the grouping sub-module is used for taking the global angle of a first group of microphone pairs as a reference group, the global angle of a second group of microphone pairs as a verification group, and the global angles of the rest groups of microphone pairs respectively as comparison groups, the first analysis sub-module is used for calculating the absolute value of the difference between the reference group global angle and the verification group, and taking the global angle of the comparison group corresponding to the minimum absolute value as the real angle of the current comparison group;
and the direction enhancement module is used for fusing the real angles of the plurality of groups of microphone pairs, and obtaining the noise source position through weighted calculation.
7. The apparatus for passive localization of noise source directions of claim 6, wherein the direction determination module comprises an angle calculation sub-module and a global angle conversion sub-module:
The angle calculation sub-module is configured to determine, according to a far field model, an included angle between each first signal and a corresponding microphone pair by combining the first time delay of each group of microphone pairs and a microphone array element interval of a preset layout, where a specific formula is as follows:
wherein beta is the included angle between the first signal and the corresponding microphone pair, For the first time delay of each group of microphone pairs, c is sound velocity, and d is microphone array element spacing;
The global angle conversion sub-module is configured to add and subtract, according to a microphone array preset layout, angles between each group of microphone pairs and each group of microphone pairs with respect to an included angle of a microphone array coordinate system, respectively, so as to obtain the global angle with the microphone array preset layout as a reference.
8. The apparatus for passive localization of noise source directions of claim 6, wherein the direction enhancement module comprises a normalization weight calculation sub-module and a weight calculation sub-module:
the normalization weight calculation sub-module is configured to calculate a normalization weight of an included angle between each first signal and a corresponding microphone, where a specific formula is as follows:
Wherein β i is the included angle between the ith first signal and the corresponding microphone pair, and S is the number of microphone pairs;
The weighting calculation sub-module is used for calculating the real angles and the normalization weights of the plurality of groups of microphone pairs to obtain the noise source position, and the specific formula is as follows:
wherein θ i is the true angle of the ith microphone pair, and α is the noise source position.
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